Matlab Tutorial

Course web page: www.cis.udel.edu/~cer/arv

September 12, 2002

Announcements
First paper presentations are allocatedtwo students per paper Homework assigned today is due next Thursday

Tues., Sept. 19 Thurs., Sept. 26 Thurs., Oct. 10 Tues., Oct. 15 Thurs., Oct. 17 Tues., Oct. 22 Thurs., Oct. 24

Video Mosaics for Virtual Environments Stochastic Road Shape Estimation Automatic Mosaic Creation of the Ocean Floor Appearance-Based Place Recognition for Topological Localization Using the Condensation Algorithm for Robust, Vision-based Mobile Robot Localization Robust Car Tracking Using Kalman Filtering and Bayesian Templates Precise Image-based Motion Estimation for Autonomous Small Body Exploration Vision-based Perception for an Autonomous Harvester Vision-Guided Flight Stability and Control for Micro Air Vehicles

Instructor Instructor Thommen Korah Bill Ulrich Joe Kirk Chaitanya Ramineni Wei Zhou Cunjie Zhu Min Li Chaitra Gowri Murthy Vishal Arora Qi Li Chris Haase Ozcan Koc Ibrahim Halil Saruhan Xiuman Zhu

About the First Paper

Pairs work together on this one! Paper write-up and preliminary version of presentation must be turned in to and discussed with the instructor one week before scheduled date Oral presentation
30 minutes long (divide speaking time) Use visual aids Be ready to lead discussion and field questions

Paper Write-Ups
3-4 pages of prose, jointly written Questions
What is the problem(s) the authors are trying to solve? What technical methods do they use? Explain unfamiliar or novel techniques and cite sources How well do they succeed? What limitations does their approach have? How might it be applied to other robot vision problems? Are there interesting links to other papers and methods we are studying? How could the work be extended or improved?

Looking up Sources
UD library
Online: Subscriptions to many journals with full-text PDF (www.lib.udel.edu; go to Subject Guides and Electronic Journals) Hard-copy: Some journals, conference proceedings, vision & robotics texts (and of course related math)

Citeseer
Best bet for conference papers Useful for tracking citations (forward and backward)
citeseer.nj.nec.com/cs

Second paper
Youre on your own!
Pick something related to project Must be substantially different from first paper topic 1-2 page write-up, 15 minute presentation (on the paperyou will present your project results at the very end)

Same order of presentation as first paper

Meet Matlab
A high-level language for matrix calculations, numerical analysis, & scientific computing Mathematica: More concerned with symbolic math, but increasing overlap between the two Language features
No variable declarations Automatic memory management (but preallocation helps) Variable argument lists control function behavior Vectorized: Can use for loops, but largely unnecessary (and less efficient)

Running Matlab at UD
Unix: Installed on Strauss & Mahler (Ren & Stimpy, too) X windows: Type matlab at a prompt Terminal: matlab nodesktopbut no
graphics, of course

PC: Should be able to get CDs and install on network-connected machine; contact Anita Schwartz (anita@udel.edu) More information on Matlab at UD: First two links on Matlab links page

How to Get Help

In Matlab Type help to get a listing of topics help <topic> gets help for that topic. The
information is at the level of a Unix man page

On the web
Matlab links on course web page has pointers Especially MathWorks help desk:
www.mathworks.com/access/helpdesk/help/helpdesk.shtml

Theres always Googlebut be careful

Entering Variables
Entering a vector, matrix V = [10, 4.5, 1]; M = [3, 4 ; -6, 5]; Without semi-colon, input is echoed (this is bad when youre loading images!) Comma to separate statements on same line size: Number of rows, columns

Constructing Matrices
Basic built-ins:
All zeroes, ones: zeros, ones Identity: eye Random: rand (uniform), randn (unit normal)

Ranges: m:n, m:i:n (i is step size) Composing big matrices out of small matrix blocks repmat(A, m, n): Tile a big matrix with m x n copies of A

Manipulations & Calculations

Transpose (), inverse (inv) Matrix arithmetic: +, -, *, /, ^ Elementwise arithmetic: .*, ./, .^ Functions
Vectorized sin, cos, etc.

Deconstructing Matrices
Indexing individual entries by row, col: A(1, 1) is upper-left entry Ranges: e.g., A(1:10, 3), A(:, 1) Matrix to vector and vice versa by column: B = A(:), A(:) = B
Transpose to use row order

find: Indices of non-zero elements

Matrix Analysis
Basics (by column) norm max, min sum More advanced
Linear systems: A\b solves A*x = b QR decomposition: qr Singular value decomposition: svd Eigenvalues: eig

Etc.

Control Structures
Expressions, relations (==, >, |, &, functions, etc.) if/while expression statements end
Use comma to separate expression from statements if on same line if a == b & isprime(n), M = inv(K); else M = K; end

for variable = expression statements end

for i=1:2:100, s = s / 10; end

M-Files
Any text file ending in .m Use path or addpath to tell Matlab where code is (non-persistent?) Script: Collection of command line statements Function: Take argument(s), return value(s). First line defines:
function y = foo(A) function [x, y] = foo2(a, M, N)

Comment: Start line with %

Plotting
2-D vectors: plot(x, y)
plot(0:0.01:2*pi, sin(0:0.01:2*pi))

3-D: plot3(x, y, z)(space curve) Surfaces

meshgrid makes surface from axes, mesh plots it [X,Y] = meshgrid(-2:.2:2, -2:.2:2); Z = X .* exp(-X.^2 - Y.^2); mesh(Z)

surf: Solid version of mesh Saving figures, plots: print depsc2 filename

Miscellaneous
Diary: Recording a session
diary filename diary off

tic, toc bracketing code to measure execution time

Image Processing Toolbox

Loading, displaying images: I=imread(im1.jpg), imshow(I) Saving images: imwrite(I, newim.jpg) Image representation
Grayscale: Matrix of uint8 Color: Stack of 3 matrices for R, G, and B

Conversion: I2 = double(I1) More in the next lecture

First Homework
Implement DLT homography estimation in Matlab Rectify three test images Just map the points, but feel free to use bilinear interpolation for nicer looking output Use ginput for mouse clicks in Matlab to record correspondences

Unrectified Images